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|Nomadics Robot Software and Hardware Support|
|The XR4000 is the largest robot that Nomadics produced and so is particularly suited to carrying a robot arm (which no other commerically produced robot is really suited to). The XR4000 is also one of the most complex robots ever produced, containing 8 motors (two for each wheel), two (or three) Pentium CPUs, four big batteries, 5 embedded microcontrollers on an ARCNET bus and many optional sensors and even an optional robot arm and controller. Hence, one of the curses of owning an XR4000 is that it is unreliable. This is one motivation for developing better software (and even hardware) to replace the Nomadics implementations.|
SoftwareThere are three primary pieces of software for the XR4000:
HardwareHere are links to some hardware modifications that people have made:
I'd like to put more descriptions of hardware modifications that people have made here. Anyone else want to contribute?